Odin1 -- Spatial Memory Module for Robotics

The World's First Spatial Memory Module

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<launch>
    <arg name="node_name" default="host_sdk_sample"/>
    <arg name="config_file" default="$(find odin_ros_driver)/config/control_command.yaml"/>
    <node name="$(arg node_name)" pkg="odin_ros_driver" type="host_sdk_sample" output="screen">
        <param name="config_file" value="$(arg config_file)"/>
    </node>
    <node pkg="odin_ros_driver" type="pcd2depth_node" name="pcd2depth_node" output="screen"/>
    <node pkg="odin_ros_driver" type="cloud_reprojection_node" name="cloud_reprojection_node" output="screen"/>
    <node pkg="odin_ros_driver" type="image_overlay_node" name="image_overlay_node" output="screen"/>
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)" output="screen"/>
</launch>

Ready to Deploy

ROS drivers, SDK documentation, and firmware available.

<launch>
    <!--
        Usage: roslaunch odin_ros_driver odin1_ros1.launch
    -->
    <arg name="node_name" default="host_sdk_sample"/>
    <arg name="config_file" default="$(find odin_ros_driver)/config/control_command.yaml"/>
    <arg name="rviz_config" default="$(find odin_ros_driver)/config/odin_ros.rviz"/>
    <node name="$(arg node_name)" pkg="odin_ros_driver" type="host_sdk_sample" output="screen">
        <param name="config_file" value="$(arg config_file)"/>
    </node>
    <node pkg="odin_ros_driver" type="pcd2depth_node" name="pcd2depth_node" output="screen">
        <rosparam command="load" file="$(find odin_ros_driver)/config/control_command.yaml"/>
        <param name="calib_file_path" value="$(find odin_ros_driver)/config/calib.yaml"/>
    </node>
    <node pkg="odin_ros_driver" type="cloud_reprojection_node" name="cloud_reprojection_node" output="screen">
        <rosparam command="load" file="$(find odin_ros_driver)/config/control_command.yaml"/>
        <param name="calib_file_path" value="$(find odin_ros_driver)/config/calib.yaml"/>
    </node>
    <node pkg="odin_ros_driver" type="image_overlay_node" name="image_overlay_node" output="screen">
        <rosparam command="load" file="$(find odin_ros_driver)/config/control_command.yaml"/>
    </node>
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)" output="screen"/>
</launch>

# USAGE: ros2 launch odin_ros_driver odin1_ros2.launch.py
import os
import yaml
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
    package_dir = get_package_share_directory('odin_ros_driver')
    config_file_arg = DeclareLaunchArgument(
        'config_file',
        default_value=os.path.join(package_dir, 'config', 'control_command.yaml'),
        description='Path to the control config YAML file')
    rviz_config_arg = DeclareLaunchArgument(
        'rviz_config',
        default_value=os.path.join(package_dir, 'config', 'odin_ros2.rviz'),
        description='Path to RViz2 config file')
    host_sdk_node = Node(
        package='odin_ros_driver', executable='host_sdk_sample',
        name='host_sdk_sample', output='screen',
        parameters=[{'config_file': LaunchConfiguration('config_file')}])
    pcd2depth_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
    with open(pcd2depth_config_path, 'r') as f:
        pcd2depth_params = yaml.safe_load(f)
    pcd2depth_calib_path = os.path.join(package_dir, 'config', 'calib.yaml')
    pcd2depth_params['calib_file_path'] = pcd2depth_calib_path
    pcd2depth_node = Node(
        package='odin_ros_driver', executable='pcd2depth_ros2_node',
        name='pcd2depth_ros2_node', output='screen', parameters=[pcd2depth_params])
    reprojection_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
    with open(reprojection_config_path, 'r') as f:
        reprojection_params = yaml.safe_load(f)
    reprojection_calib_path = os.path.join(package_dir, 'config', 'calib.yaml')
    reprojection_params['calib_file_path'] = reprojection_calib_path
    cloud_reprojection_node = Node(
        package='odin_ros_driver', executable='cloud_reprojection_ros2_node',
        name='cloud_reprojection_ros2_node', output='screen', parameters=[reprojection_params])
    overlay_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
    with open(overlay_config_path, 'r') as f:
        overlay_params = yaml.safe_load(f)
    image_overlay_node = Node(
        package='odin_ros_driver', executable='image_overlay_node',
        name='image_overlay_node', output='screen', parameters=[overlay_params])
    rviz_node = Node(
        package='rviz2', executable='rviz2', name='rviz2', output='screen',
        arguments=['-d', LaunchConfiguration('rviz_config')])
    ld = LaunchDescription()
    ld.add_action(config_file_arg)
    ld.add_action(rviz_config_arg)
    ld.add_action(host_sdk_node)
    ld.add_action(pcd2depth_node)
    ld.add_action(cloud_reprojection_node)
    ld.add_action(image_overlay_node)
    ld.add_action(rviz_node)
    return ld

// Enable the on-device algorithm
int type = LIDAR_MODE_SLAM;
lidar_set_mode(odinDevice, type);
// Switch the algorithm to SLAM mode: set "map_mode" to 1
// Different "map_mode" values correspond to:
// 0: Odometry mode
// 1: SLAM (mapping) mode
// 2: Relocalization mode
lidar_set_custom_parameter(device_handle device, const char* param_name, const void* value_data, size_t value_length);
// Initialize the "save_map" flag to 0
lidar_set_custom_parameter(device_handle device, const char* param_name, const void* value_data, size_t value_length);
// Start the stream; the algorithm starts running and you can move the device to build the map
lidar_start_stream(device_handle device, int type, uint32_t &dtof_subframe_odr);